Naslov
Autonomous docking and energy sharing between two types of robotic agents

Autori
Babić, Anja ; Mandić, Filip ; Vasiljević, Goran ; Mišković, Nikola

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
IFAC Proceedings Volumes (IFAC-PapersOnline) / Mišković, Nikola - : International Federation of Automatic Control (IFAC), 2018, 406-411

Skup
11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicle (CAMS 2018)

Mjesto i datum
Opatija, Hrvatska, 10.09.2018. - 12.09.2018

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
marine robotics ; multi-vehicle system ; visual servoing ; energy sharing

Sažetak
In order to achieve long-term autonomy after deployment, a method of energy sharing within a heterogeneous swarm of marine robots was devised and implemented. This paper describes hardware and software solutions as well as guidance and control algorithms developed with the goal of allowing powerful energy-rich overactuated surface platforms to approach, dock, and wirelessly recharge less mobile sensor-rich agents upon request using visual servoing. The basic image processing algorithm uses data acquired by the Microsoft Kinect sensor alternating between RGB and infra-red camera modes, depending on lighting conditions. The full search and docking procedure developed for long-term operation is described. The results of a series of experiments done both in an indoor testbed and in realistic outdoor conditions are discussed and some goals for future work are given.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

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